static int16_t get_score(uint32_t wcorn_retrieved,
uint32_t ucorn_retrieved,
uint16_t tomato_retrieved,
+ uint16_t utomato_retrieved,
uint8_t len, uint8_t opp_on_path)
{
int16_t score = 0;
uint32_t wcorn_retrieved = 0; /* bit mask */
uint32_t ucorn_retrieved = 0; /* bit mask */
uint16_t tomato_retrieved = 0; /* bit mask */
+ uint16_t utomato_retrieved = 0; /* bit mask */
uint8_t opponent_on_path = 0;
uint8_t len = 0, found = 0;
uint8_t i, j, prev_i, prev_j;
uint8_t ni = 0, nj = 0;
- uint8_t dir, color, idx;
+ uint8_t dir, color, idx, visited;
int8_t step = faceA ? 1 : -1;
int16_t x, y;
int32_t d, prev_d = 0;
/* is there a tomato ? */
if (strat_db.wp_table[i][j].type == WP_TYPE_TOMATO &&
strat_db.wp_table[i][j].present) {
- DPR(" TOMATO\n");
- tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ if (strat_db.wp_table[i][j].opp_visited) {
+ DPR(" TOMATO (opp visited)\n");
+ utomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ }
+ else {
+ DPR(" TOMATO\n");
+ tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ }
}
/* behind left */
if (wp_get_neigh(i, j, &ni, &nj, (dir + 2) % 6) == 0) {
color = get_corn_type(ni, nj);
idx = strat_db.wp_table[ni][nj].corn.idx;
- if (color == I2C_COB_WHITE) {
+ visited = strat_db.wp_table[ni][nj].opp_visited;
+ if (color == I2C_COB_WHITE && !visited) {
DPR(" LEFT WCORN (%d)\n", idx);
wcorn_retrieved |= (1UL << idx);
}
+ else if (color == I2C_COB_WHITE && visited) {
+ DPR(" LEFT CORN visited (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
else if (color == I2C_COB_UNKNOWN) {
DPR(" LEFT UCORN (%d)\n", idx);
ucorn_retrieved |= (1UL << idx);
if (wp_get_neigh(i, j, &ni, &nj, (dir + 4) % 6) == 0) {
color = get_corn_type(ni, nj);
idx = strat_db.wp_table[ni][nj].corn.idx;
- if (color == I2C_COB_WHITE) {
+ visited = strat_db.wp_table[ni][nj].opp_visited;
+ if (color == I2C_COB_WHITE && !visited) {
DPR(" RIGHT WCORN (%d)\n", idx);
wcorn_retrieved |= (1UL << idx);
}
+ else if (color == I2C_COB_WHITE && visited) {
+ DPR(" RIGHT CORN visited (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
else if (color == I2C_COB_UNKNOWN) {
DPR(" RIGHT UCORN (%d)\n", idx);
ucorn_retrieved |= (1UL << idx);
/* write score and exit */
*score = get_score(wcorn_retrieved, ucorn_retrieved,
- tomato_retrieved, len, opponent_on_path);
+ tomato_retrieved, utomato_retrieved,
+ len, opponent_on_path);
return 0;
}
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
__FUNCTION__, x, y);
err = END_ERROR;
x = posx;
y = posy;
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
x = -1;
else if (strat_db.wp_table[i][j].on_circuit == 0)
x = -1;